机械手的在线鲁棒自适应神经网络跟踪控制-控制理论与应用.PDF

26 3 Vol. 26 No. 3 2009 3 Control Theory Applications Mar. 2009 :2009 , (1. , 410082; 2. , 411104) : . RBF(radial basis function)PD. GP–RBF, . , Lyapunov, . . . : ; ; ; GP-RBF; : TP241 : A On-line adaptive robust neural network tracking control for robot manipulators HU Hui , LIU Guo-rong (1. College of Electrical and Information Engineering, Hunan University, Changsha Hunan 410082, China; 2. Department of Electrical and Information Engineering, Hunan Institute of Engineering, Xiangtan Hunan 411104, China) Abstract: The robust tracking control for a class of robot manipulators with disturbance and uncertainties is consid- ered The controller consists of an adaptive radial basis function(RBF) neural network controller and a PD controller The initial structure and parameters of RBF neural network are determined on-line by the growing-and-pruning(GP-RBF) algo- rithm based on the sensitivity of neurons as well as the winner neuron concept When the errors meet certain requirements, the adaptive law based on the Lyapunov stability further adjusts the weights of networks to ensure the asymptotic conver- gence of the tracking error to be zero The controller guarantees the stability and robustness of the system Simulation results demonstrate the efficacy of this method Key words: manipulator; sensitivity of neurons; winner neurons; GP-RBF algorithm; trajectory tracking 1 (Introduction) , , . , , , RBF(A- .